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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Xiaoning Ma Francis Quek Social Robotics Laboratory Interactive and Digital Institute National University of Singapore Singapore Vision Interfaces and Systems Laboratory Center of Human Computer Interaction Virginia Polytechnic Institute and State University Blacksburg VA USA

As an important approach to ensure safety and naturalness, compliant motion is already implemented in large-size robots, but it is still an undeveloped area in child-oriented robots as it calls for a lightweight and compact solution compared with large-size robots. In this paper, we proposed the design of a social robot which aims at conducting safe and playful Human-Robot Interaction (HRI), especially with children. We built a teddy bear robot prototype based on hybrid passive-active compliant system which consists of flexible joints as passive part and compliant motion controller as active part. The compliant controller detects external perturbation through motor state variables, therefore force and torque sensors could be omitted to keep overall system compact. Experiments conducted in typical HRI scenarios showed that the hybrid passive-active compliant system enabled our robot to conduct safer and more interactive physical interaction compared with robot under traditional control method.

关键词： Robot sensing systems Torque Joints Equations Mathematical model Humans

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A Thin-Plate Spline Based Multimodal Prostate Registration with Optimal Correspondences

A Thin-Plate Spline Based Multimodal Prostate Registration w...

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International IEEE Conference on Signal-Image Technologies and Internet-Based System

作者： Jhimli Mitra Arnau Oliver Robert Martí Xavier Lladó Joan C. Vilanova Fabrice Meriaudeau Laboratoire Le2I - UMR CNRS 5158 Université de Bourgogne Le Creusot France Computer Vision and Robotics Group University of Girona Girona Spain Clinica Girona Girona Spain

Accurate extraction of prostate biopsy samples during Transectal Ultra Sound (TRUS) guided prostate biopsy is facilitated with the registration of pre-acquired Magnetic Resonance (MR) images with the Ultrasound (US) images. This paper proposes a novel method of generating optimal correspondences to register the MR and US images using Thin-Plate Splines (TPS) transformation. The correspondence generation method exploits the prostate shape geometry in both the modalities and is fully automatic. Normalized Mutual Information (NMI) is employed for the quantitative determination of optimal number of correspondences in terms of maximization of registration similarity. Qualitative registration results, that conform to the NMI measures are also shown for different numbers of correspondences. Shepard's interpolation method is used with the TPS in order to deal with the interpolation error of backward TPS transformation. The accuracy of our method of correspondence generation is qualitatively evaluated in comparison with two intuitive geometric contour sampling methods. An average Dice Similarity Coefficient (DSC) value of 0.97 ± 0.01 for 4 patient datasets is obtained for the TPS registration using our novel method of correspondences.

关键词： Interpolation Biopsy Image resolution Pixel Spline Sampling methods Imaging

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Development of alignment inspection system for ball grid array packaging

Development of alignment inspection system for ball grid arr...

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International Symposium on Optomechatronic Technologies, ISOT

作者： Hyunki Lee Jeong Yul Jeon Kwang Ill Ko Hyungsuck Cho Min Young Kim Research and Development Robot Vision Team Kohyoung Company Limited Seoul South Korea Kohyoung Company Limited Seoul South Korea Robotics Engineering Department DGIST Daegu South Korea School of Electrical Engineering and Computer Science Kyungpook National University Daegu South Korea

The ball grid array (BGA) has become one of the most popular packaging alternatives for high I/O devices in the industry with many advantages: high interconnection density and less packaging space and so on. In these days, the size of chip becomes small and the size of ball grid also becomes small, so the process of BGA alignment becomes more important and difficult. In this paper, the BGA alignment system before the oven process step is managed. The main difficult of inspecting the BGA alignment is that the substrate is always tilted due to irregular carrier size and in-line process. In this paper, to overcome this problem, tilt angle of substrate is measured by phase measuring profilometry (PMP), and then the compensated alignment offset calculation algorithm is suggested. The performance of our system is checked by a series of real experiments.

关键词： Substrates Packaging Pixel Calibration Cameras Inspection Phase measurement

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Sharing and fusing landmark information in a team of autonomous robots

Sharing and fusing landmark information in a team of autonom...

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Multisensor, Multisource Information Fusion: Architectures, Algorithms, and Applications 2009

作者： Lyons, Damian M. Robotics and Computer Vision Laboratory Department of Computer and Information Science Fordham University Bronx NY 10458 United States

ISBN: (纸本)9780819476111

A team of robots working to explore and map a space may need to share information about landmarks so as register local maps and to plan effective exploration strategies. In this paper we investigate the use of spatial histograms (spatiograms) as a common representation for exchanging landmark information between robots. Each robot can use sonar, stereo, laser and image information to identify potential landmarks. The sonar, laser and stereo information provide the spatial dimension of the spatiogram in a landmark-centered coordinate frame while video provides the image information. We call the result a terrain spatiogram. This representation can be shared between robots in a team to recognize landmarks and to fuse observations from multiple sensors or multiple platforms. We report experimental results sharing indoor and outdoor landmark information between a two different models of robot equipped with differently configured stereocameras and show that the terrain spatiogram (1) allows the robots to recognize landmarks seen only by the other with high confidence and, (2) allows multiple views of a landmark to be fused in a useful fashion. © 2009 SPIE.

关键词： Mobile robots

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GABOR-BASED TEXTURE CLASSIFICATION THROUGH EFFICIENT PROTOTYPE SELECTION VIA NORMALIZED CUT

GABOR-BASED TEXTURE CLASSIFICATION THROUGH EFFICIENT PROTOTY...

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16th IEEE International Conference on Image Processing

作者： Melendez, Jaime Puig, Domenec Angel Garcia, Miguel Intelligent Robotics and Computer Vision Group Department of Computer Science and Mathematics Rovira I Virgili University Spain Department of Informatics Engineering Autonomous University of Madrid Spain

ISBN: (纸本)9781424456536

This paper presents a new efficient technique for supervised pixel-based texture classification. The proposed scheme first performs a selection process that automatically determines a subset of prototypes that characterize each texture class based on the outcome of a multichannel Gabor wavelet filter bank. Then, every image pixel is classified into one of the given texture classes by using a K-NN classifier fed with the prototypes determined previously. The proposed technique is compared to previous texture classifiers by using both Brodatz and real outdoor textured images.

关键词： Pixel-based texture classification multichannel Gabor wavelet filters prototype selection

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A network architecture for large mobile robotics environments

A network architecture for large mobile robotics environment...

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2009 2nd International Conference on Robot Communication and Coordination, RoboComm 2009

作者： Moraes, Daniel Coelho, Paulo Cardozo, Eleri Johnson, Thienne Atizani, Fernanda Guimaraes, Eliane School of Electrical and Computer Enginneering University of Campinas Brazil Information Technology Center Renato Archer Robotics and Computer Vision Division Campinas Brazil

ISBN: (纸本)9789639799516

Mobile robotics environments must adopt networking solutions that provide secure and reliable communications for the mobile robots across wide areas such as hospitals, factories, farms, etc. This paper proposes a network architecture for large mobile robotic environments built above the existing networking infrastructures. The architecture builds an overlay network above the already deployed network. The overlay network must fulfill the requirements demanded by mobile robotic applications, mainly, communication continuity during handover, security, and quality of service. A prototype of this architecture was implemented and evaluated in a mobile robotic environment composed of Pioneer P3-DX mobile robots accessed through the Internet. Results from simulation show that the architecture scales well in larger networking scenarios.

关键词： Network architecture

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Unsupervised learning of motion patterns of rear surrounding vehicles

Unsupervised learning of motion patterns of rear surrounding...

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2009 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2009

作者： Morris, Brendan Trivedi, Mohan Computer Vision and Robotics Research Laboratory University of California San Diego San Diego CA 92093-0434 United States

ISBN: (纸本)9781424454419

Awareness to a vehicle's surrounding is necessary for safe driving. Current surround technologies focus on the detection of obstacles in hard-to-view places but may neglect temporal information. This paper seeks the causes of dangerous situations by examining surround behavior. A general hierarchical learning framework is introduced to automatically learn surround behaviors. By observing motion trajectories during natural driving, models of rear vehicle behaviors are obtained in an unsupervised fashion. The extracted behaviors are shown to correspond to typical driving scenarios, vehicle overtake and surround overtake, demonstrating the effectiveness of the learning framework. ©2009 IEEE.

关键词： Vehicles

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REALabs-BOT: A WebLab in mobile robotics over high speed networks

REALabs-BOT: A WebLab in mobile robotics over high speed net...

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IFAC Workshop on Networked robotics, NetRob09

作者： Cardozo, Eleri Guimarães, Eliane G. Neto, Fernando P. Pinto, Victor V. School of Electrical and Computer Engineering University of Campinas Campinas/SP Brazil Robotics and Computer Vision Division Information Technology Center Renato Archer Campinas/SP Brazil

ISBN: (纸本)9783902661531

This paper presents the architecture and implementation of REALabs-BOT, a WebLab in mobile robotics. REALabs-BOT was designed to run over high speed networks. As such, mobile robotics experiments run on the user's computer and control the robots over the network and in real time. The proposal of the WebLab is to let the student to develop his/her robotic algorithm in Java or Javascript, to tune and evaluate the algorithm in a simulated environment, and finally to run exactly the same algorithm to drive the real robots. REALabs-BOT maintains a repository of robotic experiments for demonstration purposes and as starting point for new experiments. The WebLab also supports secure interaction from multiple users located at different sites. © 2009 IFAC.

关键词： HIgh speed networks

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MICAI 2010 Organization and Conference Committee

Proceedings of Special Session - 9th Mexican International C...

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Proceedings of Special Session - 9th Mexican International Conference on Artificial Intelligence: Advances in Artificial Intelligence and Applications, MICAI 2010 2010年 viii页

作者： Reyes-García, Carlos Alberto Sidorov, Grigori Hernández-Aguirre, Arturo Arroyo, Gustavo Murrieta, Rafael Gonzalez, Jesus A. Gonzalez, Miguel Herrera, Oscar Peña, Alejandro Espinoza, Félix A. Castro Cansino, Joel Suárez Galicia-Haro, Sofia N. Koeppen, Mario Reyes-García, Carlos A. Monroy, Raul Gelbukh, Alexander Mezura-Montes, Efrén Leguizamón, Guillermo Ramírez-Manzanares, Alonso Castillo, Oscar Fuentes, Olac Sánchez, Gildardo Natural Language Processing Mexico Machine Learning and Pattern Recognition Mexico Hybrid Intelligent Systems and Neural Networks Mexico Logic Reasoning Ontologies Knowledge Mgmt. Knowledge-Based Syst. Multi-agent Syst. Mexico Data Mining Mexico Intelligent Tutoring Systems Mexico Evolutionary Algorithms and Other Naturally Inspired Algorithms Mexico Computer Vision and Image Processing Mexico Fuzzy Logic Uncertainty and Probabilistic Reasoning Mexico Bioinformatics and Medical Applications Mexico Robotics Planning and Scheduling Mexico

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Sharing landmark information using mixture of Gaussian terrain spatiograms

Sharing landmark information using mixture of Gaussian terra...

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2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Damian M. Lyons Robotics & Computer Vision Laboratory Computer and Information Science Department Fordham University Bronx NY USA

In this paper we evaluate the use of a novel spatial histogram, the terrain spatiogram, as a common representation for exchanging landmark information between robots working as a team to map an area. Individual robots use range sensors to provide the spatial dimension of the spatiogram and video for the image dimension. We have previously shown that terrain spatiograms can be shared between robots in a heterogeneous team to recognize landmarks and to fuse observations from multiple sensors or multiple platforms. A terrain spatiogram using a mixture of Gaussians (MOG) model is introduced and a corresponding normalized spatiogram similarity measure defined. Two methods to generate a MOG terrain spatiogram are presented and compared experimentally using indoor and outdoor landmark information transferred between two different models of robot equipped with differently configured stereocameras.

关键词： Robot kinematics Robot sensing systems Histograms Cognitive robotics Intelligent robots Image sensors Fuses Sensor fusion Navigation Hazards

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